Frozen food making apparatus and method of controlling the same

Abstract

This application discloses frozen food preparation equipment and its control method, relating to the technical field of frozen food preparation equipment. The frozen food preparation equipment includes a trigger module, a lifting mechanism, a stirring mechanism, a main control module, and corresponding motor drive and speed detection circuits, and is equipped with upper limit switch circuits and lower limit switch circuits. The main control module pre-stores multiple preparation modes. Upon responding to user commands, it dynamically controls the lifting movement of the lifting mechanism and the stirring movement of the stirring mechanism based on the preparation parameters corresponding to the mode, combined with limit signals and speed feedback. The frozen food preparation control can be precise down to the motor direction and speed control of the lifting mechanism and the motor speed control of the stirring mechanism in each lifting cycle. Lifting switching is triggered by any two of the upper and lower limit signals and half of the preset cycle time for each lifting cycle, enabling the preparation of full cups / half cups. The equipment is simple to operate and produces a stable taste.

Description

Technical Field

[0001] This application relates to the field of frozen food preparation equipment technology, and in particular to a frozen food preparation equipment and its control method. Background Technology

[0002] Frozen food preparation equipment is specifically designed for making frozen foods and is widely used in both home and commercial settings. Frozen foods can include various flavors of ice cream, milkshakes, smoothies, etc. Different types of frozen foods have varying requirements for texture, firmness, and smoothness; therefore, the equipment needs to be able to precisely control key parameters such as stirring speed, lifting frequency, and running time to meet diverse production needs.

[0003] However, existing frozen food processing equipment typically operates in a fixed mode or relies on users to manually set parameters such as stirring speed and lifting rhythm, failing to automatically adjust process parameters according to different types of frozen foods. This is not only cumbersome to operate and requires a high level of user experience, but also makes it difficult to guarantee the consistency of the finished product's taste and ideal quality.

[0004] The above content is only used to help understand the technical solution of this application and does not represent an admission that the above content is prior art. Summary of the Invention

[0005] The main purpose of this application is to provide a frozen food production device that aims to solve the problems of cumbersome operation and unstable taste caused by existing equipment using a fixed operating mode or relying on users to manually set parameters such as stirring speed and lifting rhythm.

[0006] To achieve the above objectives, the frozen food production equipment proposed in this application includes: a trigger module, a lifting mechanism, a first motor drive circuit, a first speed detection circuit, a stirring mechanism, a second motor drive circuit, a second speed detection circuit, an upper limit switch circuit, a lower limit switch circuit, and a main control module.

[0007] The main control module is electrically connected to the trigger module, the first motor drive circuit, the first speed detection circuit, the second motor drive circuit, the second speed detection circuit, the upper limit switch circuit, and the lower limit switch circuit, respectively. The first motor drive circuit is also electrically connected to the motor of the lifting mechanism, and the second motor drive circuit is also electrically connected to the motor of the stirring mechanism. The trigger module is used to output a corresponding production command when triggered by the user; the first motor drive circuit is used to drive the motor of the lifting mechanism; the first speed detection circuit is used to detect the motor speed of the lifting mechanism and output a first speed detection signal; the second motor drive circuit is used to drive the motor of the stirring mechanism; the second speed detection circuit is used to detect the motor speed of the stirring mechanism and output a second speed detection signal; the upper limit switch circuit is used to close when the lifting mechanism reaches the upper limit position and output an upper limit signal; the lower limit switch circuit is used to close when the lifting mechanism reaches the lower limit position and output a lower limit signal. The main control module has multiple pre-stored production modes; the main control module is used for: In response to receiving the production instruction output by the trigger module, the corresponding production mode is entered; Based on the production parameters of the current production mode, and in conjunction with the upper limit signal, the first speed detection signal, and the upper and lower limit signals, the operation of the first motor drive circuit is controlled to control the lifting mechanism to perform lifting movements; and Based on the production parameters of the current production mode and combined with the second speed detection signal, the operation of the second motor drive circuit is controlled to control the stirring motion of the stirring mechanism. The manufacturing parameters include: the total number of lifting cycles, the preset cycle time of each lifting cycle, the first target direction and the first target speed of the motor of the lifting mechanism when it rises and falls in each lifting cycle, and the second target speed of the motor of the stirring mechanism when it rises and falls in each lifting cycle; the switching between rising and falling in each lifting cycle is triggered based on any two of the upper limit signal, the lower limit signal and half of the preset cycle time of each lifting cycle.

[0008] In one embodiment, the frozen food preparation equipment further includes: The door status detection circuit is connected to the main control module and is used to detect the door closure status of the frozen food preparation equipment and output the corresponding door detection signal. A container placement status detection circuit, connected to the main control module, is used to detect the container placement status of the frozen food preparation equipment and output a corresponding placement detection signal. The main control module is also used for: When the door is closed, the container is placed in the preset area, and the lifting mechanism is at the lower limit position, based on the door detection signal, the placement detection signal, and the lower limit signal, the system enters standby mode to wait for the manufacturing instruction. If, based on the door detection signal, the placement detection signal, and the lower limit signal, it is determined that at least one of the following occurs: the door is not closed, the container is not placed in the preset area, or the lifting mechanism is not in the lower limit position, then entering the standby mode is prohibited.

[0009] In one embodiment, the first motor drive circuit includes a first switch transistor, a second switch transistor, a third switch transistor, a fourth switch transistor, a fifth switch transistor, a first relay, a second relay, a first diode, a second diode, a third diode, a first common-mode inductor, a first resistor, and a second resistor; In this circuit, the controlled terminal of the first switching transistor is connected to the first signal output terminal of the main control module; the first terminal of the first switching transistor, the controlled terminal of the second switching transistor, and the second terminal of the second switching transistor are connected to the first power supply terminal of the first motor drive circuit; the first terminal of the second switching transistor and the second terminal of the third switching transistor are connected to the controlled terminal of the fourth switching transistor; the second terminal of the first switching transistor and the first terminal of the third switching transistor are grounded at one end of the second resistor; the other end of the second resistor and the first terminal of the fourth switching transistor are connected to one end of the first resistor; the other end of the first resistor is connected to the first signal input terminal of the main control module; the second terminal of the fourth switching transistor, the anode of the first diode, and the anode of the second diode are connected to the stationary contact of the second relay; and the cathode of the first diode, the cathode of the second diode, and the stationary contact of the first relay are connected to the first... A second power supply terminal of a motor drive circuit is connected. The first moving contact of the first relay and the second moving contact of the second relay are connected to the second input terminal of the first common-mode inductor. The second moving contact of the first relay and the first moving contact of the second relay are connected to the first input terminal of the first common-mode inductor. The first output terminal and the second output terminal of the first common-mode inductor are respectively connected to the first power supply terminal and the second power supply terminal of the motor of the lifting mechanism. One end of the coil of the first relay, one end of the coil of the second relay, and the positive terminal of the third diode are connected to the first terminal of the fifth switching transistor. The other end of the coil of the first relay, the other end of the coil of the second relay, and the negative terminal of the third diode are connected to the first power supply terminal of the first motor drive circuit. The second terminal of the fifth switching transistor is grounded. The controlled terminal of the fifth switching transistor is connected to the second signal output terminal of the main control module.

[0010] In one embodiment, the main control module is used for: Upon receiving the upper limit signal or the lower limit signal, the fifth switch is switched after a first preset time to control the motor of the lifting mechanism to perform a delayed commutation.

[0011] In one embodiment, the first switching transistor is an NPN transistor, the second switching transistor is a PNP transistor, the third switching transistor is an NMOS transistor, the fourth switching transistor is an NMOS transistor, and the fifth switching transistor is an NPN transistor.

[0012] In one embodiment, the second motor drive circuit includes a sixth switch, a seventh switch, an eighth switch, a ninth switch, a fourth diode, a fifth diode, a third resistor, a fourth resistor, a fifth resistor, and a first capacitor; The controlled terminal of the sixth switch is connected to the third signal output terminal of the main control module. The first terminal of the sixth switch, the controlled terminal of the seventh switch, and the second terminal of the seventh switch are connected to the first power supply terminal of the second motor drive circuit. The first terminal of the seventh switch and the second terminal of the eighth switch are connected to the controlled terminal of the ninth switch. The second terminal of the sixth switch and the first terminal of the eighth switch are grounded at one end of the third resistor. The other end of the third resistor and the first terminal of the ninth switch are connected to one end of the fourth resistor. The other end of the fourth resistor is connected to the second signal input terminal of the main control module. The second terminal of the ninth switch, the anode of the fourth diode, and the anode of the fifth diode are connected to the first power supply terminal of the motor of the stirring mechanism. The cathode of the fifth diode and one end of the first capacitor are connected to one end of the fifth resistor. The other end of the first capacitor, the other end of the fifth resistor, the cathode of the fourth diode, and the second power supply terminal of the second motor drive circuit are connected to the second power supply terminal of the motor of the stirring mechanism.

[0013] In one embodiment, the sixth switch is an NPN transistor, the seventh switch is a PNP transistor, the eighth switch is an NMOS transistor, and the ninth switch is an NMOS transistor.

[0014] In one embodiment, the first speed detection circuit includes a first Hall sensor and a tenth switch transistor; wherein, the power supply terminal of the first Hall sensor is connected to the power supply terminal of the first speed detection circuit, the ground terminal of the first Hall sensor is connected to the first terminal of the tenth switch transistor, the controlled terminal of the tenth switch transistor is connected to the fourth signal output terminal of the main control module, the second terminal of the tenth switch transistor is grounded, and the signal output terminal of the first Hall sensor is connected to the third signal input terminal of the main control module. And / or, the second speed detection circuit includes a second Hall sensor and an eleventh switch; wherein, the power supply terminal of the second Hall sensor is connected to the power supply terminal of the second speed detection circuit, the ground terminal of the second Hall sensor is connected to the first terminal of the eleventh switch, the controlled terminal of the eleventh switch is connected to the fifth signal output terminal of the main control module, the second terminal of the eleventh switch is grounded, and the signal output terminal of the second Hall sensor is connected to the fourth signal input terminal of the main control module.

[0015] In one embodiment, the frozen food preparation equipment further includes: The first voltage conversion circuit is connected to the main control module, the door status detection circuit and the container placement status detection circuit respectively, and is used to receive external power supply voltage and convert the external power supply voltage into the required voltage output of the main control module, the door status detection circuit and the container placement status detection circuit. The second voltage conversion circuit is connected to the trigger module, the first motor drive circuit, the first speed detection circuit, the second motor drive circuit, and the second speed detection circuit, respectively, and is used to connect to an external power supply voltage. The main control module is also used for: When the door is closed, the container is placed in the preset area, and the lifting mechanism is at the lower limit position, based on the door detection signal, the placement detection signal, and the lower limit signal, the second voltage conversion circuit is controlled to work to convert the external power supply voltage into the required voltage output of the trigger module, the first motor drive circuit, the first speed detection circuit, the second motor drive circuit, and the second speed detection circuit.

[0016] This application also proposes a control method for frozen food preparation equipment, which is applied to the frozen food preparation equipment described above, and the control method includes: S10. In response to receiving the production instruction output by the trigger module, enter the corresponding production mode; S20. Based on the production parameters of the current production mode, and in conjunction with the upper limit signal, the first speed detection signal, and the upper and lower limit signals, control the operation of the first motor drive circuit to control the lifting mechanism to perform lifting movements; and Based on the production parameters of the current production mode and combined with the second speed detection signal, the operation of the second motor drive circuit is controlled to control the stirring motion of the stirring mechanism. The manufacturing parameters include: the total number of lifting cycles, the preset cycle time of each lifting cycle, the first target direction and the first target speed of the motor of the lifting mechanism when it rises and falls in each lifting cycle, and the second target speed of the motor of the stirring mechanism when it rises and falls in each lifting cycle; the switching between rising and falling in each lifting cycle is triggered based on any two of the upper limit signal, the lower limit signal and half of the preset cycle time of each lifting cycle.

[0017] This application's technical solution employs a frozen food preparation device, including a trigger module, a lifting mechanism, a stirring mechanism, a main control module, two sets of motor drive and speed detection circuits (for lifting and stirring respectively), and upper and lower limit switch circuits. The user selects a preparation mode (e.g., full cup or half cup mode for ice cream / smoothie / milkshake) via the trigger module. The main control module then enters the corresponding preparation mode and executes the operation according to preset preparation parameters (including the preset total number of lifting cycles, the preset cycle time for each lifting cycle, and the direction and speed of the two motors during each lifting cycle). In each lifting cycle, if in full cup mode, the lifting mechanism triggers an upward movement when it reaches the lower limit (determined by the lower limit signal) and a downward movement when it reaches the upper limit (determined by the upper limit signal). If in half cup mode, depending on whether the ingredients are located on the upper or lower half of the container, the upper or lower limit is used as the starting point, and the lifting direction is switched when half the cycle time has elapsed. Regardless of the mode, the main control module sets the first target direction and speed of the lifting mechanism and the second target speed of the stirring mechanism according to the current stage (ascending / descending). It then dynamically adjusts the PWM signals output to the two motor drive circuits based on the first and second speed detection signals to achieve high-precision speed control. In this application, different production modes can be configured with different total number of lifting cycles, preset cycle times for each lifting cycle, and the first target direction and speed of the lifting mechanism motor during ascent and descent in each lifting cycle, as well as the second target speed of the stirring mechanism motor during ascent and descent in each lifting cycle, thereby adapting to the needs of frozen foods with varying firmness and fineness. Compared to existing technologies that rely on fixed programs or manual adjustments, this application supports multi-mode automatic operation, is easy to operate, and produces highly consistent finished products. Attached Figure Description

[0018] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without creative effort.

[0019] Figure 1 A schematic diagram of the structure of an embodiment of the frozen food preparation equipment provided in this application; Figure 2 An electronic circuit diagram of the first motor drive circuit of an embodiment of the frozen food preparation equipment provided in this application; Figure 3 An electronic circuit diagram of the second motor drive circuit of an embodiment of the frozen food preparation equipment provided in this application; Figure 4 Electronic circuit diagrams of the first and second rotation speed detection circuits of an embodiment of the frozen food preparation equipment provided in this application; Figure 5 Electronic circuit diagrams of the first and second voltage conversion circuits and motor drive circuits of an embodiment of the frozen food preparation equipment provided in this application; Figure 6 Electronic circuit diagram of the door status detection circuit and container placement status detection circuit of an embodiment of the frozen food preparation equipment provided in this application; Figure 7 Electronic circuit diagrams of the upper limit switch circuit and the lower limit switch circuit of an embodiment of the frozen food preparation equipment provided in this application; Figure 8 This is a schematic flowchart of an embodiment of the control method for frozen food production equipment provided in this application.

[0020] Explanation of icon numbers: 01. Trigger module; 02. Lifting mechanism; 03. First motor drive circuit; 04. First speed detection circuit; 05. Stirring mechanism; 06. Second motor drive circuit; 07. Second speed detection circuit; 08. Upper limit switch circuit; 09. Lower limit switch circuit; 10. Main control module; Q1~Q10, first switching transistor to tenth switching transistor; K1~K2, first relay to second relay; D101~D105, first diode to fifth diode; R101~R105, first resistor to fifth resistor; C101, first capacitor; LF1, first common mode inductor.

[0021] The realization of the purpose, functional features and advantages of this application will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0022] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of the embodiments. Based on the embodiments of this application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of this application.

[0023] It should be noted that all directional indicators (such as up, down, left, right, front, back, etc.) in the embodiments of this application are only used to explain the relative positional relationship and movement of each component in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indicator will also change accordingly.

[0024] Furthermore, the use of terms such as "first" and "second" in this application is for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. Additionally, the technical solutions of the various embodiments can be combined with each other, but only on the basis of being achievable by those skilled in the art. When the combination of technical solutions is contradictory or impossible to implement, such a combination of technical solutions should be considered non-existent and not within the scope of protection claimed in this application.

[0025] Existing frozen food processing equipment typically operates under fixed modes or relies on users to manually set parameters such as stirring speed and lifting rhythm, failing to automatically adjust process parameters according to different types of frozen foods. This not only makes operation cumbersome and requires a high level of user experience, but also makes it difficult to guarantee the consistency of the finished product's taste and ideal quality.

[0026] This application proposes a frozen food preparation device.

[0027] Please see Figure 1 In one embodiment of this application, the frozen food making equipment includes: a trigger module 01, a lifting mechanism 02, a first motor drive circuit 03, a first speed detection circuit 04, a stirring mechanism 05, a second motor drive circuit 06, a second speed detection circuit 07, an upper limit switch circuit 08, a lower limit switch circuit 09, and a main control module 10. The main control module 10 is electrically connected to the trigger module 01, the first motor drive circuit 03, the first speed detection circuit 04, the second motor drive circuit 06, the second speed detection circuit 07, the upper limit switch circuit 08, and the lower limit switch circuit 09, respectively. The first motor drive circuit 03 is also electrically connected to the motor of the lifting mechanism 02, and the second motor drive circuit 06 is also electrically connected to the motor of the stirring mechanism 05. The trigger module 01 is used to output corresponding production instructions when triggered by the user; the first motor drive circuit 03 is used to drive the motor of the lifting mechanism 02; the first speed detection circuit 04 is used to detect the motor speed of the lifting mechanism 02 and output a first speed detection signal; the second motor drive circuit 06 is used to drive the motor of the stirring mechanism 05; the second speed detection circuit 07 is used to detect the motor speed of the stirring mechanism 05 and output a second speed detection signal; the upper limit switch circuit 08 is used to close when the lifting mechanism 02 reaches the upper limit position and output an upper limit signal; the lower limit switch circuit 09 is used to close when the lifting mechanism 02 reaches the lower limit position and output a lower limit signal. The main control module 10 has multiple pre-stored production modes; the main control module 10 is used for: In response to receiving the production command output by the trigger module 01, the corresponding production mode is entered; Based on the production parameters of the current production mode, and in conjunction with the upper limit signal, the first speed detection signal, and the upper and lower limit signals, the operation of the first motor drive circuit 03 is controlled to control the lifting mechanism 02 to perform lifting movements; and Based on the production parameters of the current production mode and combined with the second speed detection signal, the operation of the second motor drive circuit 06 is controlled to control the stirring motion of the stirring mechanism 05. The production parameters include: the total number of lifting cycles, the preset cycle time of each lifting cycle, the first target direction and the first target speed of the motor of the lifting mechanism 02 when it rises and falls in each lifting cycle, and the second target speed of the motor of the stirring mechanism 05 when it rises and falls in each lifting cycle; the switching between rising and falling in each lifting cycle is triggered by any two of the upper limit signal, the lower limit signal and half of the preset cycle time of each lifting cycle.

[0028] It should be noted that contact connecting pieces can be provided at the top and bottom of the lifting mechanism 02, and both the upper limit switch circuit 08 and the lower limit switch circuit 09 can be contact switch circuits. Please refer to [link / reference]. Figure 7 The upper limit switch circuit 08 includes a contact interface P1, one end of which is grounded, and the other end is connected to capacitor C102 and the upper limit detection pin of the main control module 10. When the lifting mechanism 02 has not reached the upper limit position, the main control module 10 inputs a high level; when the lifting mechanism 02 reaches the upper limit position, the main control module 10 inputs a low level. The lower limit switch circuit 09 includes a contact interface P2, one end of which is grounded, and the other end is connected to capacitor C103 and the lower limit detection pin of the main control module 10. When the lifting mechanism 02 has not reached the lower limit position, the main control module 10 inputs a high level; when the lifting mechanism 02 reaches the lower limit position, the main control module 10 inputs a low level.

[0029] It should be noted that the trigger module 01 may include components such as a stepless knob for mode selection and a button for switching between full cup / half cup modes. Through the stepless knob and the button, different production modes can be selected, and the production parameters of different production modes are different.

[0030] In this embodiment, the trigger module 01 outputs a corresponding production command when triggered by the user. The main control module 10 receives the production command output by the trigger module 01 and enters the corresponding production mode. In this production mode, the main control module 10 determines the number of lifting cycles of the lifting mechanism 02 based on the total number of lifting cycles in this production mode. In each lifting cycle, if it is a full-cup production, upon receiving the lower limit signal, it enters the rising phase, controlling the lifting mechanism 02 to rotate according to the first target direction and the first target speed during the rising phase of the lifting cycle, and controlling the stirring mechanism 05 to rotate according to the second target speed during the rising phase of the lifting cycle. The first PWM signal output to the first motor drive circuit 03 is dynamically adjusted in conjunction with the first speed detection signal, and the second PWM signal output to the second motor drive circuit 06 is dynamically adjusted in conjunction with the second speed detection signal to improve the accuracy of motor speed control. Upon receiving the upper limit signal, it enters the falling phase, controlling the lifting mechanism 02 to rotate according to the first target direction and the first target speed during the falling phase of the lifting cycle, and controlling the stirring mechanism 05 to rotate according to the second target speed during the falling phase of the lifting cycle. Specifically, the first PWM signal output to the first motor drive circuit 03 is dynamically adjusted in conjunction with the first speed detection signal, and the second PWM signal output to the second motor drive circuit 06 is dynamically adjusted in conjunction with the second speed detection signal, thereby improving the accuracy of motor speed control.

[0031] In each lifting cycle, if it is a half-cup mode and the ingredients to be prepared are loaded on the upper half of the container, upon receiving the upper limit signal, it enters the descent phase. The lifting mechanism 02 is controlled to rotate according to the first target direction and first target speed during the descent in this lifting cycle, and the stirring mechanism 05 is controlled to rotate according to the second target speed during the descent in this lifting cycle. The first PWM signal output to the first motor drive circuit 03 is dynamically adjusted based on the first speed detection signal, and the second PWM signal output to the second motor drive circuit 06 is dynamically adjusted based on the second speed detection signal to improve the accuracy of motor speed control. After half of the preset cycle time of this lifting cycle, it enters the ascending phase. The lifting mechanism 02 is controlled to rotate according to the first target direction and first target speed during the ascending phase, and the stirring mechanism 05 is controlled to rotate according to the second target speed during the ascending phase. Again, the first PWM signal output to the first motor drive circuit 03 is dynamically adjusted based on the first speed detection signal, and the second PWM signal output to the second motor drive circuit 06 is dynamically adjusted based on the second speed detection signal to improve the accuracy of motor speed control.

[0032] In each lifting cycle, if it is a half-cup mode and the ingredients to be prepared are loaded on the lower half of the container, upon receiving the lower limit signal, it enters the rising phase. The lifting mechanism 02 is controlled to rotate according to the first target direction and first target speed during the rising phase of the cycle, and the stirring mechanism 05 is controlled to rotate according to the second target speed during the rising phase of the cycle. The first PWM signal output to the first motor drive circuit 03 is dynamically adjusted based on the first speed detection signal, and the second PWM signal output to the second motor drive circuit 06 is dynamically adjusted based on the second speed detection signal to improve the accuracy of motor speed control. After half of the preset cycle time of the lifting cycle, it enters the falling phase. The lifting mechanism 02 is controlled to rotate according to the first target direction and first target speed during the falling phase of the cycle, and the stirring mechanism 05 is controlled to rotate according to the second target speed during the falling phase of the cycle. Again, the first PWM signal output to the first motor drive circuit 03 is dynamically adjusted based on the first speed detection signal, and the second PWM signal output to the second motor drive circuit 06 is dynamically adjusted based on the second speed detection signal to improve the accuracy of motor speed control.

[0033] For example, the production mode may include a full cup ice cream production mode, in which the two lifting cycles are each divided into an upward phase and a downward phase, wherein the upward phase is triggered by the lower limit signal and the downward phase is triggered by the upper limit signal. In the first cycle's upward phase, the first target direction of the motor of lifting mechanism 02 can be set clockwise, and the first target speed can be set to 15 rpm; the second target speed of the motor of stirring mechanism 05 can be set to 1200 rpm. In the first cycle's downward phase, the first target direction of the motor of lifting mechanism 02 can be set counterclockwise, and the first target speed can be set to 20 rpm; the second target speed of the motor of stirring mechanism 05 can be set to 1200 rpm. In the second cycle's upward phase, the first target direction of the motor of lifting mechanism 02 can be set clockwise, and the first target speed can be set to 20 rpm; the second target speed of the motor of stirring mechanism 05 can be set to 1200 rpm. In the second cycle's downward phase, the first target direction of the motor of lifting mechanism 02 can be set counterclockwise, and the first target speed can be set to 20 rpm; the second target speed of the motor of stirring mechanism 05 can be set to 1200 rpm. It is understood that different production parameters can be set according to the specific production mode of different frozen foods; no restrictions are imposed here.

[0034] In addition, the production mode can also include a half-cup ice cream production mode. Taking the ingredients to be produced as the upper half of the container as an example, the preset cycle time for each lifting cycle is set to 70 seconds, and the number of production cycles is set to 2. In this case, each of the two lifting cycles is divided into a descending phase and an ascending phase. The descending phase is triggered based on the upper limit signal, and the ascending phase is triggered when the time reaches 35 seconds in each cycle. In the two lifting cycles, the first target direction of the motor of the lifting mechanism 02 during the descending and ascending phases is set to counterclockwise and clockwise, respectively, and the first target speed is set to the same value, such as 20 rpm. The second target speed of the motor of the stirring mechanism 05 during the descending and ascending phases is set to 1200 rpm. It can be understood that the settings of different production parameters can be specifically set according to the production mode of different frozen foods, and there are no restrictions here.

[0035] It is understandable that the production modes can also include different frozen food production modes such as full-cup smoothie production mode, half-cup smoothie production mode, full-cup milkshake production mode, and half-cup milkshake production mode. The total number of lifting cycles, the preset cycle time of each lifting cycle, and the first target direction and first target speed of the motor of the lifting mechanism 02 during each lifting cycle can be different from the second target speed of the motor of the stirring mechanism 05 during each lifting cycle. Thus, compared with the prior art, this embodiment can freely set and precisely control the first target direction, first target speed, and second target speed in each lifting cycle, realizing multiple production modes and enabling the production of full-cup and half-cup frozen foods. Thus, this embodiment can realize the production of various frozen foods with different requirements for softness, firmness, and smoothness, solving the problems of cumbersome operation and unstable taste caused by existing equipment using fixed operating modes or relying on users to manually set parameters such as stirring speed and lifting rhythm.

[0036] In one embodiment of this application, the frozen food preparation equipment further includes: The door status detection circuit, connected to the main control module 10, is used to detect the door closure status of the frozen food preparation equipment and output the corresponding door detection signal. The container placement status detection circuit is connected to the main control module 10 and is used to detect the container placement status of the frozen food preparation equipment and output the corresponding placement detection signal. The main control module 10 is also used for: When the door is closed, the container is placed in the preset area, and the lifting mechanism 02 is at the lower limit position, based on the door detection signal, the placement detection signal and the lower limit signal, the system enters standby mode to wait for the production instruction. If, based on the door detection signal, placement detection signal, and lower limit signal, it is determined that at least one of the following occurs: the door is not closed, the container is not placed in the preset area, or the lifting mechanism 02 is not in the lower limit position, then entering standby mode is prohibited.

[0037] It should be noted that frozen food preparation equipment may be equipped with a door switch circuit. When the door is closed, the door switch circuit outputs a square wave signal; when the door is open, it outputs a high-level signal. Please refer to [link / reference]. Figure 6 The door status detection circuit may include resistors R38, R39, R47, diode D14, NPN transistor Q13, and resistor R69. When the door is closed, NPN transistor Q13 is working, and the DOOR-DET signal detected by the main control module 10 is a square wave signal. When the door is open, NPN transistor Q13 is turned on, and the DOOR-DET signal detected by the main control module 10 is a high level.

[0038] A magnet may be installed inside the container. The container placement status detection circuit may include a Hall sensor connected to interface J14, resistors R36 and R30, and capacitor C17. The main control module 10 can detect the DRAWER-DET signal output by the Hall sensor connected to interface J14. When the container is placed in the preset area, the voltage of the DRAWER-DET signal output by the Hall sensor connected to interface J14 is greater than the preset voltage; when the container is not placed in the preset area, the voltage of the DRAWER-DET signal output by the Hall sensor connected to interface J14 is less than or equal to the preset voltage.

[0039] In this embodiment, the reset position of the lifting mechanism 02 is set to the lower limit.

[0040] It should be noted that in this embodiment, the standby mode is only allowed to receive production instructions when the door is closed, the container is placed in the preset area, and the lifting mechanism 02 is at the lower limit position, based on the door detection signal, placement detection signal, and lower limit signal. Otherwise, entering the standby mode is prohibited. This avoids the situation of accidentally entering the standby mode and prevents the lifting mechanism 02 and the stirring mechanism 05 from being started incorrectly, thus improving safety.

[0041] Please see Figure 2 In one embodiment of this application, the first motor drive circuit 03 includes a first switch Q1, a second switch Q2, a third switch Q3, a fourth switch Q4, a fifth switch Q5, a first relay K1, a second relay K2, a first diode D101, a second diode D102, a third diode D103, a first common-mode inductor LF1, a first resistor R101, and a second resistor R102; In this circuit, the controlled terminal of the first switch Q1 is connected to the first signal output terminal of the main control module 10; the first terminal of the first switch Q1, the controlled terminal of the second switch Q2, and the second terminal of the second switch Q2 are connected to the first power supply terminal of the first motor drive circuit 03; the first terminal of the second switch Q2 and the second terminal of the third switch Q3 are connected to the controlled terminal of the fourth switch Q4; the second terminal of the first switch Q1 and the first terminal of the third switch Q3 are grounded at one end of the second resistor R102; the other end of the second resistor R102 and the first terminal of the fourth switch Q4 are connected to one end of the first resistor R101; the other end of the first resistor R101 is connected to the first signal input terminal of the main control module 10; the second terminal of the fourth switch Q4, the anode of the first diode D101, and the anode of the second diode D102 are connected to the stationary contact of the second relay K2; and the cathode of the first diode D101, the cathode of the second diode D102, and the stationary contact of the first relay K1 are connected. The first moving contact of the first relay K1 and the second moving contact of the second relay K2 are connected to the second input terminal of the first common-mode inductor LF1. The second moving contact of the first relay K1 and the first moving contact of the second relay K2 are connected to the first input terminal of the first common-mode inductor LF1. The first output terminal and the second output terminal of the first common-mode inductor LF1 are connected to the first power supply terminal and the second power supply terminal of the motor of the lifting mechanism 02, respectively. One end of the coil of the first relay K1, one end of the coil of the second relay K2, and the positive terminal of the third diode D103 are connected to the first terminal of the fifth switch Q5. The other end of the coil of the first relay K1, the other end of the coil of the second relay K2, and the negative terminal of the third diode D103 are connected to the first power supply terminal of the first motor drive circuit 03. The second terminal of the fifth switch Q5 is grounded. The controlled terminal of the fifth switch Q5 is connected to the second signal output terminal of the main control module 10.

[0042] In one embodiment, the first switch Q1 is an NPN transistor, the second switch Q2 is a PNP transistor, the third switch Q3 is an NMOS transistor, the fourth switch Q4 is an NMOS transistor, and the fifth switch Q5 is an NPN transistor.

[0043] It should be noted that, in order to improve the stability of the motor drive, suppress voltage spikes and optimize start-stop response characteristics, the first motor drive circuit 03 can also be adapted to include components such as resistors, capacitors and Zener diodes, without any restrictions.

[0044] In this embodiment, the main control module 10 can output UP_MOT_PWM signals with different duty cycles to adjust the speed of the motor of the lifting mechanism 02 connected to interface J17. The first switch Q1, second switch Q2, third switch Q3, and fourth switch Q4 adopt a totem pole-like configuration. Compared with a totem pole circuit with the same logic, this reduces the number of switching devices and allows for flexible adjustment of the drive intensity. The standby current is extremely low when the drive stops, reducing the overall standby power. The first relay K1 and the second relay K2 form an H-bridge drive circuit, controlling the motor's forward (ascending) and reverse (descending) rotations respectively when the fifth switch Q5 is turned on / off. The first diode D101 and the third diode D103 act as freewheeling protection diodes when the relay switches are switching, preventing damage to power devices due to instantaneous voltage changes. The second diode D102, along with capacitor C24, resistor R51, and resistor R59, form an RCD circuit, which absorbs voltage spikes caused by sudden load changes, protecting the fourth switch Q4. The main control module 10 can also sample the drive current through the first resistor R101, adjust the output of the UP_MOT_PWM signal according to the sampled signal (i.e., the UP_OPA_IN+ signal), and detect abnormal conditions such as motor stall based on the sampled signal to achieve motor overload protection. Thus, this embodiment reduces the circuit cost of the lifting motor drive, while offering strong safety and precise motor speed control.

[0045] Please see Figure 2 In one embodiment of this application, the main control module 10 is used for: Upon receiving an upper limit signal or a lower limit signal, the fifth switch Q5 is switched after a first preset time to control the motor of the lifting mechanism 02 to perform a delayed commutation.

[0046] It should be noted that directly switching the direction of rotation (i.e., immediately switching the current relay's engaged state) while the motor is running at high speed will cause a sudden change in current in the circuit, generating a high-amplitude back electromotive force spike. This voltage spike can easily cause distortion of the initial speed detection signal, leading to errors in motor speed regulation.

[0047] In this embodiment, commutation is based on the first relay K1 and the second relay K2, and a delayed commutation strategy is adopted. For example, commutation is performed 1 second after the upper limit signal or lower limit signal is detected. During this delay, the motor gradually decelerates to near a stop due to mechanical inertia, and the armature current naturally decays. After the back electromotive force in the circuit decreases to a low level, the fifth switch Q5 is controlled to switch states to control the commutation of the motor of the lifting mechanism 02. Thus, this embodiment enhances the safety of motor commutation.

[0048] In this embodiment, in the half-cup mode, the delay time can be reserved in the preset cycle time of each lifting cycle to ensure the accurate production requirements of the half-cup mode.

[0049] Please see Figure 3 In one embodiment of this application, the second motor drive circuit 06 includes a sixth switch Q6, a seventh switch Q7, an eighth switch Q8, a ninth switch Q9, a fourth diode D104, a fifth diode D105, a third resistor R103, a fourth resistor R104, a fifth resistor R105, and a first capacitor C101. In this circuit, the controlled terminal of the sixth switch Q6 is connected to the third signal output terminal of the main control module 10; the first terminal of the sixth switch Q6, the controlled terminal of the seventh switch Q7, and the second terminal of the seventh switch Q7 are connected to the first power supply terminal of the second motor drive circuit 06; the first terminal of the seventh switch Q7 and the second terminal of the eighth switch Q8 are connected to the controlled terminal of the ninth switch Q9; the second terminal of the sixth switch Q6 and the first terminal of the eighth switch Q8 are grounded at one end of the third resistor R103; and the other end of the third resistor R103 and the first terminal of the ninth switch Q9 are connected to one end of the fourth resistor R104. The other end of the fourth resistor R104 is connected to the second signal input terminal of the main control module 10. The second terminal of the ninth switch Q9, the positive terminal of the fourth diode D104, and the positive terminal of the fifth diode D105 are connected to the first power supply terminal of the motor of the stirring mechanism 05. The negative terminal of the fifth diode D105 and one end of the first capacitor C101 are connected to one end of the fifth resistor R105. The other end of the first capacitor C101, the other end of the fifth resistor R105, the negative terminal of the fourth diode D104, and the second power supply terminal of the second motor drive circuit 06 are connected to the second power supply terminal of the motor of the stirring mechanism 05.

[0050] In one embodiment, the sixth switch Q6 is an NPN transistor, the seventh switch Q7 is a PNP transistor, the eighth switch Q8 is an NMOS transistor, and the ninth switch Q9 is an NMOS transistor.

[0051] It should be noted that, in order to improve the stability of the motor drive, suppress voltage spikes and optimize start-stop response characteristics, the second motor drive circuit 06 can also be adapted to include components such as resistors, capacitors and Zener diodes, without any restrictions.

[0052] In this embodiment, the main control module 10 can output DR_MOT_PWM signals with different duty cycles to adjust the speed of the motor of the stirring mechanism 05 connected to interface J17. The sixth switch Q6, seventh switch Q7, eighth switch Q8, and ninth switch Q9 adopt a totem pole-like configuration. Compared with a totem pole circuit with the same logic, this reduces the number of switching devices and allows for flexible adjustment of the drive intensity. The standby current is extremely small when the drive stops, reducing the overall standby power. The fourth diode D104 can act as a freewheeling protection diode to prevent damage to power devices due to instantaneous voltage changes. The fifth diode D105, the first capacitor C101, and the fifth resistor R105 form an RCD circuit, which can absorb voltage spikes caused by sudden load changes, thus protecting the ninth switch Q9. The main control module 10 can also sample the drive current through the fourth resistor R104 and adjust the output of the DR_MOT_PWM signal according to the sampled signal (i.e., the DR_OPA_IN+ signal). It can also detect abnormal conditions such as motor stall based on the sampled signal, achieving overload protection for the motor. Thus, this embodiment reduces the circuit cost of the lifting motor drive, while also providing strong safety and precise motor speed control.

[0053] Please see Figure 4 In one embodiment of this application, the first speed detection circuit 04 includes a first Hall sensor and a tenth switch Q10; wherein, the power supply terminal of the first Hall sensor is connected to the power supply terminal of the first speed detection circuit 04, the ground terminal of the first Hall sensor is connected to the first terminal of the tenth switch Q10, the controlled terminal of the tenth switch Q10 is connected to the fourth signal output terminal of the main control module 10, the second terminal of the tenth switch Q10 is grounded, and the signal output terminal of the first Hall sensor is connected to the third signal input terminal of the main control module 10; And / or, the second speed detection circuit 07 includes a second Hall sensor and an eleventh switch; wherein, the power supply terminal of the second Hall sensor is connected to the power supply terminal of the second speed detection circuit 07, the ground terminal of the second Hall sensor is connected to the first terminal of the eleventh switch, the controlled terminal of the eleventh switch is connected to the fifth signal output terminal of the main control module 10, the second terminal of the eleventh switch is grounded, and the signal output terminal of the second Hall sensor is connected to the fourth signal input terminal of the main control module 10.

[0054] In this embodiment, the first speed detection circuit 04 and the second speed detection circuit 07 can share the switching transistor Q10 to reduce circuit cost. Interface J5 is used to connect the first Hall sensor, and interface J12 is used to connect the second Hall sensor. The main control module 10 can control the two Hall sensors to work / stop working through the switching transistor Q10. When the two Hall sensors are working, the speed of the motor of the lifting mechanism 02 can be adjusted through the UP_MOT_FG signal, and the speed of the motor of the stirring mechanism 05 can be adjusted through the DR_MOT_FG signal to achieve precise adjustment of the motor speed.

[0055] Please see Figure 5 In one embodiment of this application, the frozen food preparation equipment further includes: The first voltage conversion circuit is connected to the main control module 10, the door status detection circuit and the container placement status detection circuit respectively. It is used to connect to the external power supply voltage and convert the external power supply voltage into the required voltage output of the main control module 10, the door status detection circuit and the container placement status detection circuit. The second voltage conversion circuit is connected to the trigger module 01, the first motor drive circuit 03, the first speed detection circuit 04, the second motor drive circuit 06 and the second speed detection circuit 07 respectively, and is used to connect to an external power supply voltage. The main control module 10 is also used for: When the door is closed, the container is placed in the preset area, and the lifting mechanism 02 is in the lower limit position, based on the door detection signal, the placement detection signal, and the lower limit signal, the second voltage conversion circuit is controlled to work, so as to convert the external power supply voltage into the required voltage output of the trigger module 01, the first motor drive circuit 03, the first speed detection circuit 04, the second motor drive circuit 06, and the second speed detection circuit 07.

[0056] It should be noted that the first voltage conversion circuit may include a power input circuit, a first voltage conversion circuit, and a second voltage conversion circuit. The power input circuit may include a fuse F1, a varistor VR1, a capacitor C2, a resistor R3, a resistor R5, a common-mode inductor LF2, and a capacitor C3. The first voltage conversion circuit may include an AC-DC chip U1 and adaptively configured resistors, capacitors, and diodes. The second voltage conversion circuit may include a DC-DC chip U5 and adaptively configured resistors, capacitors, and diodes. Thus, the first voltage conversion circuit can convert the external power supply voltage into the required voltage (such as 12V and 5V) for the main control module 10, the door status detection circuit, and the container placement status detection circuit.

[0057] The second voltage conversion circuit includes a door switch interface control circuit J13, a high-voltage switch control circuit, and a rectifier circuit. It should be noted that when the door of the frozen food preparation equipment is closed, the two ends of the door switch interface control circuit J13 are connected, and an external power supply voltage is applied. The high-voltage switch control circuit includes a relay K3, a diode D7, a switching transistor Q12, resistors R7 and R27. When the main control module 10 enters standby mode, it outputs a high level, which turns on the switching transistor Q12, energizing the coil of relay K3. At this time, the two contacts of relay K3 close, and an external power supply voltage is applied. The rectifier circuit includes a GBU2506 rectifier device and adaptively configured resistors and capacitors.

[0058] Thus, this embodiment is equipped with a dual-switch protection mechanism, which improves the safety of the frozen food preparation equipment.

[0059] This application also proposes a control method for frozen food preparation equipment; please refer to [link / reference]. Figure 8 The frozen food preparation equipment control method is applied to the frozen food preparation equipment described above, and the frozen food preparation equipment control method includes: S10. In response to receiving the production command output by the trigger module 01, enter the corresponding production mode; S20. Based on the production parameters of the current production mode, and in conjunction with the upper limit signal, the first speed detection signal, and the upper and lower limit signals, control the operation of the first motor drive circuit 03 to control the lifting mechanism 02 to perform lifting movements; and Based on the production parameters of the current production mode and combined with the second speed detection signal, the operation of the second motor drive circuit 06 is controlled to control the stirring motion of the stirring mechanism 05. The production parameters include: the total number of lifting cycles, the preset cycle time of each lifting cycle, the first target direction and the first target speed of the motor of the lifting mechanism 02 when it rises and falls in each lifting cycle, and the second target speed of the motor of the stirring mechanism 05 when it rises and falls in each lifting cycle; the switching between rising and falling in each lifting cycle is triggered by any two of the upper limit signal, the lower limit signal and half of the preset cycle time of each lifting cycle.

[0060] The specific structure of the frozen food preparation equipment is as described in the above embodiments. Since the control method of this frozen food preparation equipment adopts all the technical solutions of all the above embodiments, it has at least all the beneficial effects brought about by the technical solutions of the above embodiments, and will not be described in detail here.

[0061] In one embodiment, the frozen food preparation equipment further includes: The door status detection circuit, connected to the main control module 10, is used to detect the door closure status of the frozen food preparation equipment and output the corresponding door detection signal. The container placement status detection circuit is connected to the main control module 10 and is used to detect the container placement status of the frozen food preparation equipment and output the corresponding placement detection signal. Prior to step S10, the method for controlling the frozen food preparation equipment further includes: Step S00: After determining that the door is closed, the container is placed in the preset area, and the lifting mechanism 02 is at the lower limit position based on the door detection signal, placement detection signal, and lower limit signal, the system enters standby mode to wait for the manufacturing command; and If, based on the door detection signal, placement detection signal, and lower limit signal, it is determined that at least one of the following occurs: the door is not closed, the container is not placed in the preset area, or the lifting mechanism 02 is not in the lower limit position, then entering standby mode is prohibited.

[0062] This implementation method can prevent accidental entry into standby mode, thus improving security.

[0063] The above description is merely an exemplary embodiment of this application and does not limit the patent scope of this application. Any equivalent structural transformations made based on the technical concept of this application and the contents of the specification and drawings of this application, or direct / indirect applications in other related technical fields, are included within the patent protection scope of this application.

Claims

1. A frozen food preparation device, characterized in that, include: The system includes a trigger module, a lifting mechanism, a first motor drive circuit, a first speed detection circuit, a stirring mechanism, a second motor drive circuit, a second speed detection circuit, an upper limit switch circuit, a lower limit switch circuit, and a main control module. The main control module is electrically connected to the trigger module, the first motor drive circuit, the first speed detection circuit, the second motor drive circuit, the second speed detection circuit, the upper limit switch circuit, and the lower limit switch circuit, respectively. The first motor drive circuit is also electrically connected to the motor of the lifting mechanism, and the second motor drive circuit is also electrically connected to the motor of the stirring mechanism. The trigger module is used to output corresponding production instructions when triggered by the user; the first motor drive circuit is used to drive the motor of the lifting mechanism; the first speed detection circuit is used to detect the speed of the motor of the lifting mechanism and output a first speed detection signal. The second motor drive circuit is used to drive the motor of the stirring mechanism; the second speed detection circuit is used to detect the speed of the motor of the stirring mechanism and output a second speed detection signal; the upper limit switch circuit is used to close when the lifting mechanism reaches the upper limit position and output an upper limit signal; the lower limit switch circuit is used to close when the lifting mechanism reaches the lower limit position and output a lower limit signal. The main control module has multiple pre-stored production modes; the main control module is used for: In response to receiving the production instruction output by the trigger module, the corresponding production mode is entered; Based on the production parameters of the current production mode, and in combination with the upper limit signal, the first speed detection signal, the upper limit signal, and the lower limit signal, the operation of the first motor drive circuit is controlled to control the lifting mechanism to perform lifting and lowering movements. as well as Based on the production parameters of the current production mode and combined with the second speed detection signal, the operation of the second motor drive circuit is controlled to control the stirring motion of the stirring mechanism. The manufacturing parameters include: the total number of lifting cycles, the preset cycle time of each lifting cycle, the first target direction and the first target speed of the motor of the lifting mechanism when it rises and falls in each lifting cycle, and the second target speed of the motor of the stirring mechanism when it rises and falls in each lifting cycle; the switching between rising and falling in each lifting cycle is triggered based on any two of the upper limit signal, the lower limit signal and half of the preset cycle time of each lifting cycle.

2. The frozen food preparation equipment as described in claim 1, characterized in that, Also includes: The door status detection circuit is connected to the main control module and is used to detect the door closure status of the frozen food preparation equipment and output the corresponding door detection signal. A container placement status detection circuit, connected to the main control module, is used to detect the container placement status of the frozen food preparation equipment and output a corresponding placement detection signal. The main control module is also used for: When the door is closed, the container is placed in the preset area, and the lifting mechanism is at the lower limit position, based on the door detection signal, the placement detection signal, and the lower limit signal, the system enters standby mode to wait for the manufacturing instruction. If, based on the door detection signal, the placement detection signal, and the lower limit signal, it is determined that at least one of the following occurs: the door is not closed, the container is not placed in the preset area, or the lifting mechanism is not in the lower limit position, then entering the standby mode is prohibited.

3. The frozen food preparation equipment as described in claim 1, characterized in that, The first motor drive circuit includes a first switching transistor, a second switching transistor, a third switching transistor, a fourth switching transistor, a fifth switching transistor, a first relay, a second relay, a first diode, a second diode, a third diode, a first common-mode inductor, a first resistor, and a second resistor; In this circuit, the controlled terminal of the first switching transistor is connected to the first signal output terminal of the main control module; the first terminal of the first switching transistor, the controlled terminal of the second switching transistor, and the second terminal of the second switching transistor are connected to the first power supply terminal of the first motor drive circuit; the first terminal of the second switching transistor and the second terminal of the third switching transistor are connected to the controlled terminal of the fourth switching transistor; the second terminal of the first switching transistor and the first terminal of the third switching transistor are grounded at one end of the second resistor; the other end of the second resistor and the first terminal of the fourth switching transistor are connected to one end of the first resistor; the other end of the first resistor is connected to the first signal input terminal of the main control module; the second terminal of the fourth switching transistor, the anode of the first diode, and the anode of the second diode are connected to the stationary contact of the second relay; and the cathode of the first diode, the cathode of the second diode, and the stationary contact of the first relay are connected to the first... A second power supply terminal of a motor drive circuit is connected. The first moving contact of the first relay and the second moving contact of the second relay are connected to the second input terminal of the first common-mode inductor. The second moving contact of the first relay and the first moving contact of the second relay are connected to the first input terminal of the first common-mode inductor. The first output terminal and the second output terminal of the first common-mode inductor are respectively connected to the first power supply terminal and the second power supply terminal of the motor of the lifting mechanism. One end of the coil of the first relay, one end of the coil of the second relay, and the positive terminal of the third diode are connected to the first terminal of the fifth switching transistor. The other end of the coil of the first relay, the other end of the coil of the second relay, and the negative terminal of the third diode are connected to the first power supply terminal of the first motor drive circuit. The second terminal of the fifth switching transistor is grounded. The controlled terminal of the fifth switching transistor is connected to the second signal output terminal of the main control module.

4. The frozen food preparation equipment as described in claim 3, characterized in that, The main control module is used for: Upon receiving the upper limit signal or the lower limit signal, the fifth switch is switched after a first preset time to control the motor of the lifting mechanism to perform a delayed commutation.

5. The frozen food preparation equipment as described in claim 3, characterized in that, The first switching transistor is an NPN transistor, the second switching transistor is a PNP transistor, the third switching transistor is an NMOS transistor, the fourth switching transistor is an NMOS transistor, and the fifth switching transistor is an NPN transistor.

6. The frozen food preparation equipment as described in claim 1, characterized in that, The second motor drive circuit includes a sixth switch, a seventh switch, an eighth switch, a ninth switch, a fourth diode, a fifth diode, a third resistor, a fourth resistor, a fifth resistor, and a first capacitor; The controlled terminal of the sixth switch is connected to the third signal output terminal of the main control module. The first terminal of the sixth switch, the controlled terminal of the seventh switch, and the second terminal of the seventh switch are connected to the first power supply terminal of the second motor drive circuit. The first terminal of the seventh switch and the second terminal of the eighth switch are connected to the controlled terminal of the ninth switch. The second terminal of the sixth switch and the first terminal of the eighth switch are grounded at one end of the third resistor. The other end of the third resistor and the first terminal of the ninth switch are connected to one end of the fourth resistor. The other end of the fourth resistor is connected to the second signal input terminal of the main control module. The second terminal of the ninth switch, the anode of the fourth diode, and the anode of the fifth diode are connected to the first power supply terminal of the motor of the stirring mechanism. The cathode of the fifth diode and one end of the first capacitor are connected to one end of the fifth resistor. The other end of the first capacitor, the other end of the fifth resistor, the cathode of the fourth diode, and the second power supply terminal of the second motor drive circuit are connected to the second power supply terminal of the motor of the stirring mechanism.

7. The frozen food preparation equipment as described in claim 6, characterized in that, The sixth switch is an NPN transistor, the seventh switch is a PNP transistor, the eighth switch is an NMOS transistor, and the ninth switch is an NMOS transistor.

8. The frozen food preparation equipment as described in claim 1, characterized in that, The first speed detection circuit includes a first Hall sensor and a tenth switch transistor; wherein, the power supply terminal of the first Hall sensor is connected to the power supply terminal of the first speed detection circuit, the ground terminal of the first Hall sensor is connected to the first terminal of the tenth switch transistor, the controlled terminal of the tenth switch transistor is connected to the fourth signal output terminal of the main control module, the second terminal of the tenth switch transistor is grounded, and the signal output terminal of the first Hall sensor is connected to the third signal input terminal of the main control module. And / or, the second speed detection circuit includes a second Hall sensor and an eleventh switch; wherein, the power supply terminal of the second Hall sensor is connected to the power supply terminal of the second speed detection circuit, the ground terminal of the second Hall sensor is connected to the first terminal of the eleventh switch, the controlled terminal of the eleventh switch is connected to the fifth signal output terminal of the main control module, the second terminal of the eleventh switch is grounded, and the signal output terminal of the second Hall sensor is connected to the fourth signal input terminal of the main control module.

9. The frozen food preparation equipment as described in claim 2, characterized in that, Also includes: The first voltage conversion circuit is connected to the main control module, the door status detection circuit and the container placement status detection circuit respectively, and is used to receive external power supply voltage and convert the external power supply voltage into the required voltage output of the main control module, the door status detection circuit and the container placement status detection circuit. The second voltage conversion circuit is connected to the trigger module, the first motor drive circuit, the first speed detection circuit, the second motor drive circuit, and the second speed detection circuit, respectively, and is used to connect to an external power supply voltage. The main control module is also used for: When the door is closed, the container is placed in the preset area, and the lifting mechanism is at the lower limit position, based on the door detection signal, the placement detection signal, and the lower limit signal, the second voltage conversion circuit is controlled to work to convert the external power supply voltage into the required voltage output of the trigger module, the first motor drive circuit, the first speed detection circuit, the second motor drive circuit, and the second speed detection circuit.

10. A method for controlling frozen food production equipment, characterized in that, The frozen food preparation equipment control method is applied to the frozen food preparation equipment as described in any one of claims 1 to 9, and the frozen food preparation equipment control method includes: S10. In response to receiving the production instruction output by the trigger module, enter the corresponding production mode; S20. Based on the production parameters of the current production mode, and in conjunction with the upper limit signal, the first speed detection signal, and the upper and lower limit signals, control the operation of the first motor drive circuit to control the lifting mechanism to perform lifting movements; and Based on the production parameters of the current production mode and combined with the second speed detection signal, the operation of the second motor drive circuit is controlled to control the stirring motion of the stirring mechanism. The manufacturing parameters include: the total number of lifting cycles, the preset cycle time of each lifting cycle, the first target direction and the first target speed of the motor of the lifting mechanism when it rises and falls in each lifting cycle, and the second target speed of the motor of the stirring mechanism when it rises and falls in each lifting cycle; the switching between rising and falling in each lifting cycle is triggered based on any two of the upper limit signal, the lower limit signal and half of the preset cycle time of each lifting cycle.

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